RT info:eu-repo/semantics/article
T1 Complete low-cost implementation of a teleoperated control system for a humanoid robot
A1 Cela, Andrés
A1 Yebes Torres, José Javier
A1 Arroyo Contera, Roberto
A1 Bergasa Pascual, Luis Miguel
A1 Barea Navarro, Rafael
A1 López Guillén, María Elena
K1 Low-cost
K1 Teleoperation system
K1 Humanoid robot
K1 MechRc
K1 Arduino Fio
K1 ZigBee RF
K1 Kalman filter
K1 Fuzzy balance control
K1 Electrónica
K1 Electronics
AB Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to replicate the suit movements in a small humanoid robot. The data from the sensors is wirelessly transmitted via two ZigBee RF configurable modules installed on each device: the robot and the suit. Replicating the suit movements requires a robot stability control module to prevent falling down while executing different actions involving knees flexion. This is carried out via a feedback control system with an accelerometer placed on the robot’s back. The measurement from this sensor is filtered using Kalman. In addition, a two input fuzzy algorithm controlling five servo motors regulates the robot balance. The humanoid robot is controlled by a medium capacity processor and a low computational cost is achieved for executing the different algorithms. Both hardware and software of the system are based on open platforms. The successful experiments carried out validate the implementation of the proposed teleoperated system.
PB MDPI
SN 1424-8220
YR 2013
FD 2013-01-24
LK http://hdl.handle.net/10017/43134
UL http://hdl.handle.net/10017/43134
LA eng
NO Comunidad de Madrid
DS MINDS@UW
RD 28-abr-2024